Real-time LiDAR Data Assocation Aided by IMU in High Dynamic Environment

被引：0

作者：

Xu, Jinhong ^{[1
]}

Lv, Jiajun ^{[1
]}

Pan, Zaishen ^{[1
]}

Liu, Yong ^{[1
]}

Chen, Yinan ^{[2
]}

机构：

[1] Zhejiang Univ, Inst Cyber Syst & Control, Hangzhou 310027, Zhejiang, Peoples R China

[2] Xidian Univ, Xian 710126, Shaanxi, Peoples R China

来源：

PROCEEDINGS OF 2018 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE RCAR) | 2018年

基金：

中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In recent years, with the breakthroughs in sensor technology, SLAM technology is developing towards high speed and high dynamic applications. The rotating multi line LiDAR sensor plays an important role. However, the rotating multi line LiDAR sensors need to restructure the data in high dynamic environment. Our work is to propose a LiDAR data correction method based on IMU and hardware synchronization, and make a hardware synchronization unit. This method can still output correct point cloud information when LiDAR sensor is moving violently.

引用

页码：202 / 205

页数：4

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